2010-05-04 22:43:15 +09:00
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/*
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* adis16400.c support Analog Devices ADIS16400/5
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* 3d 2g Linear Accelerometers,
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* 3d Gyroscopes,
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* 3d Magnetometers via SPI
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*
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* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
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* Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/gpio.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include "../iio.h"
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#include "../sysfs.h"
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#include "../accel/accel.h"
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#include "../adc/adc.h"
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#include "../gyro/gyro.h"
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#include "../magnetometer/magnet.h"
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#include "adis16400.h"
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#define DRIVER_NAME "adis16400"
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/* At the moment the spi framework doesn't allow global setting of cs_change.
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* It's in the likely to be added comment at the top of spi.h.
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* This means that use cannot be made of spi_write etc.
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*/
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/**
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* adis16400_spi_write_reg_8() - write single byte to a register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the register to be written
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* @val: the value to write
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**/
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2010-05-07 23:38:58 +09:00
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static int adis16400_spi_write_reg_8(struct device *dev,
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2010-05-04 22:43:15 +09:00
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u8 reg_address,
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u8 val)
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{
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int ret;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_WRITE_REG(reg_address);
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st->tx[1] = val;
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ret = spi_write(st->us, st->tx, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: value to be written
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**/
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static int adis16400_spi_write_reg_16(struct device *dev,
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u8 lower_reg_address,
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u16 value)
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{
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int ret;
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struct spi_message msg;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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}, {
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.tx_buf = st->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
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st->tx[1] = value & 0xFF;
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st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
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st->tx[3] = (value >> 8) & 0xFF;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: somewhere to pass back the value read
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**/
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static int adis16400_spi_read_reg_16(struct device *dev,
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u8 lower_reg_address,
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u16 *val)
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{
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struct spi_message msg;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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}, {
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.rx_buf = st->rx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
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st->tx[1] = 0;
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st->tx[2] = 0;
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st->tx[3] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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if (ret) {
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dev_err(&st->us->dev,
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"problem when reading 16 bit register 0x%02X",
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lower_reg_address);
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goto error_ret;
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}
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*val = (st->rx[0] << 8) | st->rx[1];
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error_ret:
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16400_spi_read_burst() - read all data registers
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @rx: somewhere to pass back the value read (min size is 24 bytes)
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**/
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int adis16400_spi_read_burst(struct device *dev, u8 *rx)
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{
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struct spi_message msg;
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
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u32 old_speed_hz = st->us->max_speed_hz;
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 0,
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}, {
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.rx_buf = rx,
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.bits_per_word = 8,
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.len = 24,
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.cs_change = 1,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD);
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st->tx[1] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz);
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spi_setup(st->us);
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ret = spi_sync(st->us, &msg);
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if (ret)
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dev_err(&st->us->dev, "problem when burst reading");
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st->us->max_speed_hz = old_speed_hz;
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spi_setup(st->us);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static ssize_t adis16400_spi_read_signed(struct device *dev,
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struct device_attribute *attr,
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char *buf,
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unsigned bits)
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{
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int ret;
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s16 val = 0;
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unsigned shift = 16 - bits;
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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ret = adis16400_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
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if (ret)
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return ret;
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if (val & ADIS16400_ERROR_ACTIVE)
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adis16400_check_status(dev);
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val = ((s16)(val << shift) >> shift);
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return sprintf(buf, "%d\n", val);
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}
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static ssize_t adis16400_read_12bit_unsigned(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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int ret;
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u16 val = 0;
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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ret = adis16400_spi_read_reg_16(dev, this_attr->address, &val);
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if (ret)
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return ret;
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if (val & ADIS16400_ERROR_ACTIVE)
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adis16400_check_status(dev);
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return sprintf(buf, "%u\n", val & 0x0FFF);
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}
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static ssize_t adis16400_read_14bit_signed(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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ssize_t ret;
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/* Take the iio_dev status lock */
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mutex_lock(&indio_dev->mlock);
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ret = adis16400_spi_read_signed(dev, attr, buf, 14);
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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static ssize_t adis16400_read_12bit_signed(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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ssize_t ret;
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/* Take the iio_dev status lock */
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mutex_lock(&indio_dev->mlock);
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ret = adis16400_spi_read_signed(dev, attr, buf, 12);
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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static ssize_t adis16400_write_16bit(struct device *dev,
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struct device_attribute *attr,
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const char *buf,
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size_t len)
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{
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struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
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int ret;
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long val;
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ret = strict_strtol(buf, 10, &val);
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if (ret)
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goto error_ret;
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ret = adis16400_spi_write_reg_16(dev, this_attr->address, val);
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error_ret:
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return ret ? ret : len;
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}
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static ssize_t adis16400_read_frequency(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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int ret, len = 0;
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u16 t;
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int sps;
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ret = adis16400_spi_read_reg_16(dev,
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ADIS16400_SMPL_PRD,
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&t);
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if (ret)
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return ret;
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sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
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sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
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len = sprintf(buf, "%d SPS\n", sps);
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return len;
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}
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static ssize_t adis16400_write_frequency(struct device *dev,
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struct device_attribute *attr,
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const char *buf,
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size_t len)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_dev_get_devdata(indio_dev);
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long val;
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int ret;
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u8 t;
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ret = strict_strtol(buf, 10, &val);
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if (ret)
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return ret;
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mutex_lock(&indio_dev->mlock);
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t = (1638 / val);
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if (t > 0)
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t--;
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t &= ADIS16400_SMPL_PRD_DIV_MASK;
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if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
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st->us->max_speed_hz = ADIS16400_SPI_SLOW;
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else
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st->us->max_speed_hz = ADIS16400_SPI_FAST;
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ret = adis16400_spi_write_reg_8(dev,
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ADIS16400_SMPL_PRD,
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t);
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mutex_unlock(&indio_dev->mlock);
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return ret ? ret : len;
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}
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static ssize_t adis16400_write_reset(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t len)
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{
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if (len < 1)
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return -1;
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switch (buf[0]) {
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case '1':
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case 'y':
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case 'Y':
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return adis16400_reset(dev);
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}
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return -1;
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}
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int adis16400_set_irq(struct device *dev, bool enable)
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{
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int ret;
|
|
|
|
u16 msc;
|
|
|
|
ret = adis16400_spi_read_reg_16(dev, ADIS16400_MSC_CTRL, &msc);
|
|
|
|
if (ret)
|
|
|
|
goto error_ret;
|
|
|
|
|
|
|
|
msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
|
|
|
|
if (enable)
|
|
|
|
msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
|
|
|
|
else
|
|
|
|
msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
|
|
|
|
|
|
|
|
ret = adis16400_spi_write_reg_16(dev, ADIS16400_MSC_CTRL, msc);
|
|
|
|
if (ret)
|
|
|
|
goto error_ret;
|
|
|
|
|
|
|
|
error_ret:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
int adis16400_reset(struct device *dev)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
ret = adis16400_spi_write_reg_8(dev,
|
|
|
|
ADIS16400_GLOB_CMD,
|
|
|
|
ADIS16400_GLOB_CMD_SW_RESET);
|
|
|
|
if (ret)
|
|
|
|
dev_err(dev, "problem resetting device");
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Power down the device */
|
2010-05-07 23:38:58 +09:00
|
|
|
static int adis16400_stop_device(struct device *dev)
|
2010-05-04 22:43:15 +09:00
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
u16 val = ADIS16400_SLP_CNT_POWER_OFF;
|
|
|
|
|
|
|
|
ret = adis16400_spi_write_reg_16(dev, ADIS16400_SLP_CNT, val);
|
|
|
|
if (ret)
|
|
|
|
dev_err(dev, "problem with turning device off: SLP_CNT");
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2010-05-07 23:38:58 +09:00
|
|
|
static int adis16400_self_test(struct device *dev)
|
2010-05-04 22:43:15 +09:00
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
ret = adis16400_spi_write_reg_16(dev,
|
|
|
|
ADIS16400_MSC_CTRL,
|
|
|
|
ADIS16400_MSC_CTRL_MEM_TEST);
|
|
|
|
if (ret) {
|
|
|
|
dev_err(dev, "problem starting self test");
|
|
|
|
goto err_ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
adis16400_check_status(dev);
|
|
|
|
|
|
|
|
err_ret:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
int adis16400_check_status(struct device *dev)
|
|
|
|
{
|
|
|
|
u16 status;
|
|
|
|
int ret;
|
|
|
|
|
|
|
|
ret = adis16400_spi_read_reg_16(dev, ADIS16400_DIAG_STAT, &status);
|
|
|
|
|
|
|
|
if (ret < 0) {
|
|
|
|
dev_err(dev, "Reading status failed\n");
|
|
|
|
goto error_ret;
|
|
|
|
}
|
|
|
|
ret = status;
|
|
|
|
if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
|
|
|
|
dev_err(dev, "Z-axis accelerometer self-test failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
|
|
|
|
dev_err(dev, "Y-axis accelerometer self-test failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
|
|
|
|
dev_err(dev, "X-axis accelerometer self-test failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
|
|
|
|
dev_err(dev, "X-axis gyroscope self-test failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
|
|
|
|
dev_err(dev, "Y-axis gyroscope self-test failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
|
|
|
|
dev_err(dev, "Z-axis gyroscope self-test failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_ALARM2)
|
|
|
|
dev_err(dev, "Alarm 2 active\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_ALARM1)
|
|
|
|
dev_err(dev, "Alarm 1 active\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
|
|
|
|
dev_err(dev, "Flash checksum error\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_SELF_TEST)
|
|
|
|
dev_err(dev, "Self test error\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_OVERFLOW)
|
|
|
|
dev_err(dev, "Sensor overrange\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
|
|
|
|
dev_err(dev, "SPI failure\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
|
|
|
|
dev_err(dev, "Flash update failed\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
|
|
|
|
dev_err(dev, "Power supply above 5.25V\n");
|
|
|
|
if (status & ADIS16400_DIAG_STAT_POWER_LOW)
|
|
|
|
dev_err(dev, "Power supply below 4.75V\n");
|
|
|
|
|
|
|
|
error_ret:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
static int adis16400_initial_setup(struct adis16400_state *st)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
u16 prod_id, smp_prd;
|
|
|
|
struct device *dev = &st->indio_dev->dev;
|
|
|
|
|
|
|
|
/* use low spi speed for init */
|
|
|
|
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
|
|
|
|
st->us->mode = SPI_MODE_3;
|
|
|
|
spi_setup(st->us);
|
|
|
|
|
|
|
|
/* Disable IRQ */
|
|
|
|
ret = adis16400_set_irq(dev, false);
|
|
|
|
if (ret) {
|
|
|
|
dev_err(dev, "disable irq failed");
|
|
|
|
goto err_ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Do self test */
|
|
|
|
|
|
|
|
/* Read status register to check the result */
|
|
|
|
ret = adis16400_check_status(dev);
|
|
|
|
if (ret) {
|
|
|
|
adis16400_reset(dev);
|
|
|
|
dev_err(dev, "device not playing ball -> reset");
|
|
|
|
msleep(ADIS16400_STARTUP_DELAY);
|
|
|
|
ret = adis16400_check_status(dev);
|
|
|
|
if (ret) {
|
|
|
|
dev_err(dev, "giving up");
|
|
|
|
goto err_ret;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
ret = adis16400_spi_read_reg_16(dev, ADIS16400_PRODUCT_ID, &prod_id);
|
|
|
|
if (ret)
|
|
|
|
goto err_ret;
|
|
|
|
|
|
|
|
if (prod_id != ADIS16400_PRODUCT_ID_DEFAULT)
|
|
|
|
dev_warn(dev, "unknown product id");
|
|
|
|
|
|
|
|
printk(KERN_INFO DRIVER_NAME ": prod_id 0x%04x at CS%d (irq %d)\n",
|
|
|
|
prod_id, st->us->chip_select, st->us->irq);
|
|
|
|
|
|
|
|
/* use high spi speed if possible */
|
|
|
|
ret = adis16400_spi_read_reg_16(dev, ADIS16400_SMPL_PRD, &smp_prd);
|
|
|
|
if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
|
|
|
|
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
|
|
|
|
spi_setup(st->us);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
err_ret:
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_ACCEL_X_OFFSET(S_IWUSR | S_IRUGO,
|
|
|
|
adis16400_read_12bit_signed,
|
|
|
|
adis16400_write_16bit,
|
|
|
|
ADIS16400_XACCL_OFF);
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_ACCEL_Y_OFFSET(S_IWUSR | S_IRUGO,
|
|
|
|
adis16400_read_12bit_signed,
|
|
|
|
adis16400_write_16bit,
|
|
|
|
ADIS16400_YACCL_OFF);
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_ACCEL_Z_OFFSET(S_IWUSR | S_IRUGO,
|
|
|
|
adis16400_read_12bit_signed,
|
|
|
|
adis16400_write_16bit,
|
|
|
|
ADIS16400_ZACCL_OFF);
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_IN_NAMED_RAW(supply, adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_SUPPLY_OUT);
|
|
|
|
static IIO_CONST_ATTR(in_supply_scale, "0.002418");
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_GYRO_X(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_XGYRO_OUT);
|
|
|
|
static IIO_DEV_ATTR_GYRO_Y(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_YGYRO_OUT);
|
|
|
|
static IIO_DEV_ATTR_GYRO_Z(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_ZGYRO_OUT);
|
|
|
|
static IIO_CONST_ATTR(gyro_scale, "0.05 deg/s");
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_ACCEL_X(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_XACCL_OUT);
|
|
|
|
static IIO_DEV_ATTR_ACCEL_Y(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_YACCL_OUT);
|
|
|
|
static IIO_DEV_ATTR_ACCEL_Z(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_ZACCL_OUT);
|
|
|
|
static IIO_CONST_ATTR(accel_scale, "0.00333 g");
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_MAGN_X(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_XMAGN_OUT);
|
|
|
|
static IIO_DEV_ATTR_MAGN_Y(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_YMAGN_OUT);
|
|
|
|
static IIO_DEV_ATTR_MAGN_Z(adis16400_read_14bit_signed,
|
|
|
|
ADIS16400_ZMAGN_OUT);
|
|
|
|
static IIO_CONST_ATTR(magn_scale, "0.0005 Gs");
|
|
|
|
|
|
|
|
|
2010-05-07 23:38:55 +09:00
|
|
|
static IIO_DEV_ATTR_TEMP_RAW(adis16400_read_12bit_signed);
|
2010-05-04 22:43:15 +09:00
|
|
|
static IIO_CONST_ATTR(temp_offset, "198.16 K");
|
|
|
|
static IIO_CONST_ATTR(temp_scale, "0.14 K");
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_IN_RAW(0, adis16400_read_12bit_unsigned,
|
|
|
|
ADIS16400_AUX_ADC);
|
|
|
|
static IIO_CONST_ATTR(in0_scale, "0.000806");
|
|
|
|
|
|
|
|
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
|
|
|
|
adis16400_read_frequency,
|
|
|
|
adis16400_write_frequency);
|
|
|
|
|
|
|
|
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
|
|
|
|
|
|
|
|
static IIO_CONST_ATTR_AVAIL_SAMP_FREQ("409 546 819 1638");
|
|
|
|
|
|
|
|
static IIO_CONST_ATTR(name, "adis16400");
|
|
|
|
|
|
|
|
static struct attribute *adis16400_event_attributes[] = {
|
|
|
|
NULL
|
|
|
|
};
|
|
|
|
|
|
|
|
static struct attribute_group adis16400_event_attribute_group = {
|
|
|
|
.attrs = adis16400_event_attributes,
|
|
|
|
};
|
|
|
|
|
|
|
|
static struct attribute *adis16400_attributes[] = {
|
|
|
|
&iio_dev_attr_accel_x_offset.dev_attr.attr,
|
|
|
|
&iio_dev_attr_accel_y_offset.dev_attr.attr,
|
|
|
|
&iio_dev_attr_accel_z_offset.dev_attr.attr,
|
|
|
|
&iio_dev_attr_in_supply_raw.dev_attr.attr,
|
|
|
|
&iio_const_attr_in_supply_scale.dev_attr.attr,
|
2010-05-07 23:38:55 +09:00
|
|
|
&iio_dev_attr_gyro_x_raw.dev_attr.attr,
|
|
|
|
&iio_dev_attr_gyro_y_raw.dev_attr.attr,
|
|
|
|
&iio_dev_attr_gyro_z_raw.dev_attr.attr,
|
2010-05-04 22:43:15 +09:00
|
|
|
&iio_const_attr_gyro_scale.dev_attr.attr,
|
|
|
|
&iio_dev_attr_accel_x_raw.dev_attr.attr,
|
|
|
|
&iio_dev_attr_accel_y_raw.dev_attr.attr,
|
|
|
|
&iio_dev_attr_accel_z_raw.dev_attr.attr,
|
|
|
|
&iio_const_attr_accel_scale.dev_attr.attr,
|
2010-05-07 23:38:55 +09:00
|
|
|
&iio_dev_attr_magn_x_raw.dev_attr.attr,
|
|
|
|
&iio_dev_attr_magn_y_raw.dev_attr.attr,
|
|
|
|
&iio_dev_attr_magn_z_raw.dev_attr.attr,
|
2010-05-04 22:43:15 +09:00
|
|
|
&iio_const_attr_magn_scale.dev_attr.attr,
|
2010-05-07 23:38:55 +09:00
|
|
|
&iio_dev_attr_temp_raw.dev_attr.attr,
|
2010-05-04 22:43:15 +09:00
|
|
|
&iio_const_attr_temp_offset.dev_attr.attr,
|
|
|
|
&iio_const_attr_temp_scale.dev_attr.attr,
|
|
|
|
&iio_dev_attr_in0_raw.dev_attr.attr,
|
|
|
|
&iio_const_attr_in0_scale.dev_attr.attr,
|
|
|
|
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
|
|
|
&iio_const_attr_available_sampling_frequency.dev_attr.attr,
|
|
|
|
&iio_dev_attr_reset.dev_attr.attr,
|
|
|
|
&iio_const_attr_name.dev_attr.attr,
|
|
|
|
NULL
|
|
|
|
};
|
|
|
|
|
|
|
|
static const struct attribute_group adis16400_attribute_group = {
|
|
|
|
.attrs = adis16400_attributes,
|
|
|
|
};
|
|
|
|
|
|
|
|
static int __devinit adis16400_probe(struct spi_device *spi)
|
|
|
|
{
|
|
|
|
int ret, regdone = 0;
|
|
|
|
struct adis16400_state *st = kzalloc(sizeof *st, GFP_KERNEL);
|
|
|
|
if (!st) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_ret;
|
|
|
|
}
|
|
|
|
/* this is only used for removal purposes */
|
|
|
|
spi_set_drvdata(spi, st);
|
|
|
|
|
|
|
|
/* Allocate the comms buffers */
|
|
|
|
st->rx = kzalloc(sizeof(*st->rx)*ADIS16400_MAX_RX, GFP_KERNEL);
|
|
|
|
if (st->rx == NULL) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_free_st;
|
|
|
|
}
|
|
|
|
st->tx = kzalloc(sizeof(*st->tx)*ADIS16400_MAX_TX, GFP_KERNEL);
|
|
|
|
if (st->tx == NULL) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_free_rx;
|
|
|
|
}
|
|
|
|
st->us = spi;
|
|
|
|
mutex_init(&st->buf_lock);
|
|
|
|
/* setup the industrialio driver allocated elements */
|
|
|
|
st->indio_dev = iio_allocate_device();
|
|
|
|
if (st->indio_dev == NULL) {
|
|
|
|
ret = -ENOMEM;
|
|
|
|
goto error_free_tx;
|
|
|
|
}
|
|
|
|
|
|
|
|
st->indio_dev->dev.parent = &spi->dev;
|
|
|
|
st->indio_dev->num_interrupt_lines = 1;
|
|
|
|
st->indio_dev->event_attrs = &adis16400_event_attribute_group;
|
|
|
|
st->indio_dev->attrs = &adis16400_attribute_group;
|
|
|
|
st->indio_dev->dev_data = (void *)(st);
|
|
|
|
st->indio_dev->driver_module = THIS_MODULE;
|
|
|
|
st->indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
|
|
|
|
ret = adis16400_configure_ring(st->indio_dev);
|
|
|
|
if (ret)
|
|
|
|
goto error_free_dev;
|
|
|
|
|
|
|
|
ret = iio_device_register(st->indio_dev);
|
|
|
|
if (ret)
|
|
|
|
goto error_unreg_ring_funcs;
|
|
|
|
regdone = 1;
|
|
|
|
|
|
|
|
ret = adis16400_initialize_ring(st->indio_dev->ring);
|
|
|
|
if (ret) {
|
|
|
|
printk(KERN_ERR "failed to initialize the ring\n");
|
|
|
|
goto error_unreg_ring_funcs;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0) {
|
|
|
|
#if 0 /* fixme: here we should support */
|
|
|
|
iio_init_work_cont(&st->work_cont_thresh,
|
|
|
|
NULL,
|
|
|
|
adis16400_thresh_handler_bh_no_check,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
st);
|
|
|
|
#endif
|
|
|
|
ret = iio_register_interrupt_line(spi->irq,
|
|
|
|
st->indio_dev,
|
|
|
|
0,
|
|
|
|
IRQF_TRIGGER_RISING,
|
|
|
|
"adis16400");
|
|
|
|
if (ret)
|
|
|
|
goto error_uninitialize_ring;
|
|
|
|
|
|
|
|
ret = adis16400_probe_trigger(st->indio_dev);
|
|
|
|
if (ret)
|
|
|
|
goto error_unregister_line;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* Get the device into a sane initial state */
|
|
|
|
ret = adis16400_initial_setup(st);
|
|
|
|
if (ret)
|
|
|
|
goto error_remove_trigger;
|
|
|
|
return 0;
|
|
|
|
|
|
|
|
error_remove_trigger:
|
|
|
|
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
|
|
|
|
adis16400_remove_trigger(st->indio_dev);
|
|
|
|
error_unregister_line:
|
|
|
|
if (st->indio_dev->modes & INDIO_RING_TRIGGERED)
|
|
|
|
iio_unregister_interrupt_line(st->indio_dev, 0);
|
|
|
|
error_uninitialize_ring:
|
|
|
|
adis16400_uninitialize_ring(st->indio_dev->ring);
|
|
|
|
error_unreg_ring_funcs:
|
|
|
|
adis16400_unconfigure_ring(st->indio_dev);
|
|
|
|
error_free_dev:
|
|
|
|
if (regdone)
|
|
|
|
iio_device_unregister(st->indio_dev);
|
|
|
|
else
|
|
|
|
iio_free_device(st->indio_dev);
|
|
|
|
error_free_tx:
|
|
|
|
kfree(st->tx);
|
|
|
|
error_free_rx:
|
|
|
|
kfree(st->rx);
|
|
|
|
error_free_st:
|
|
|
|
kfree(st);
|
|
|
|
error_ret:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
/* fixme, confirm ordering in this function */
|
|
|
|
static int adis16400_remove(struct spi_device *spi)
|
|
|
|
{
|
|
|
|
int ret;
|
|
|
|
struct adis16400_state *st = spi_get_drvdata(spi);
|
|
|
|
struct iio_dev *indio_dev = st->indio_dev;
|
|
|
|
|
|
|
|
ret = adis16400_stop_device(&(indio_dev->dev));
|
|
|
|
if (ret)
|
|
|
|
goto err_ret;
|
|
|
|
|
|
|
|
flush_scheduled_work();
|
|
|
|
|
|
|
|
adis16400_remove_trigger(indio_dev);
|
|
|
|
if (spi->irq && gpio_is_valid(irq_to_gpio(spi->irq)) > 0)
|
|
|
|
iio_unregister_interrupt_line(indio_dev, 0);
|
|
|
|
|
|
|
|
adis16400_uninitialize_ring(indio_dev->ring);
|
|
|
|
adis16400_unconfigure_ring(indio_dev);
|
|
|
|
iio_device_unregister(indio_dev);
|
|
|
|
kfree(st->tx);
|
|
|
|
kfree(st->rx);
|
|
|
|
kfree(st);
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
|
|
|
|
err_ret:
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
static struct spi_driver adis16400_driver = {
|
|
|
|
.driver = {
|
|
|
|
.name = "adis16400",
|
|
|
|
.owner = THIS_MODULE,
|
|
|
|
},
|
|
|
|
.probe = adis16400_probe,
|
|
|
|
.remove = __devexit_p(adis16400_remove),
|
|
|
|
};
|
|
|
|
|
|
|
|
static __init int adis16400_init(void)
|
|
|
|
{
|
|
|
|
return spi_register_driver(&adis16400_driver);
|
|
|
|
}
|
|
|
|
module_init(adis16400_init);
|
|
|
|
|
|
|
|
static __exit void adis16400_exit(void)
|
|
|
|
{
|
|
|
|
spi_unregister_driver(&adis16400_driver);
|
|
|
|
}
|
|
|
|
module_exit(adis16400_exit);
|
|
|
|
|
|
|
|
MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
|
|
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
|
|
|
|
MODULE_LICENSE("GPL v2");
|